The application discloses a kind of
single frame unmanned plane image pixel positioning method and
system based on
elevation map, it is related to unmanned plane
image processing and geographic positioning technical field, obtain the
single frame original image of unmanned plane shooting and the
digital elevation map of the shooting area when unmanned plane attitude information, camera internal and external parameters, shooting;According to camera internal parameter, the pixel coordinates of target pixel in original image are converted to camera normalization plane coordinate
system, and target pixel
back projection point coordinates are obtained after coordinate
distortion correction;According to camera external parameter and unmanned plane attitude information, camera-unmanned plane body coordinate
system, body-geographic inertial reference coordinate system conversion is carried out, and the normalized
ray direction vector corresponding to target pixel is obtained;Based on
digital elevation map, construct ground height constraint, by
iterative approximation to space point along
ray direction, determine the intersection of
ray and ground.The application can realize the fast and accurate conversion of
single frame unmanned plane image pixel to geographic coordinate.